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UniGen: Unified Modeling of Initial Agent States and Trajectories for Generating Autonomous Driving Scenarios
This paper introduces UniGen, a novel approach to generating new traffic scenarios for evaluating and improving autonomous driving software through simulation.
Particle-Based Score Estimation for State Space Model Learning in Autonomous Driving
Recent methods addressing this problem typically differentiate through time in a particle filter, which requires workarounds to the non-differentiable resampling step, that yield biased or high variance gradient estimates.
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